Design,Manufacture And Control Of A Bionic Earthworm Crawling Robot With Self-Healing Function

With the introduction of soft biomaterials,the poor environmental adaptability and large mass size of traditional robot,which make soft robots emerged as the times require.Soft robots are composed almost entirely of flexible materials that are as compliant as natural organisms.The use of materials similar to biomaterials enables them to interact adaptively,flexibly,and safely in uncertain and dynamic task environments.Due to the inherent compliance of the material,the soft robot allows the load to be distributed over a larger area,thereby increasing the contact time so that it can resist mechanical shock.However,compliance results in damage to the soft robot during contact with sharp objects during work,which reduces the service life of the soft robot.Inspired by limbless crawling creatures,creeping robots modeled on earthworms have attracted great attention.Based on simulating the body structure and movement of earthworms,this paper prepared a bionic earthworm crawling robot with selfhealing functions and systematic research was conducted on the preparation of self-healing materials,design,preparation and control scheme of the bionic earthworm crawling robot.Firstly,a self-healing polydimethylsiloxane self-material was prepared.The prepared elastomer has good tensile properties(2400%),and the healing efficiency is as high as 89.6% after being left at room temperature for 24 hours.At the same time,heating can accelerate the healing rate of the elastomer.The healing efficiency after heating for 1 hour at 70? is the same as left at room temperature for 24 hours.Secondly,a bionic earthworm crawling robot with self-healing function was designed.The bionic earthworm crawling robot is composed of three parts: a central fiber-reinforced actuator,a front actuator,and a rear actuator.The central fiber-reinforced actuator mimics the ring and longitudinal muscles of the earthworm,and the front and rear actuators mimic the bristles of the earthworm.The design ideas,manufacturing process and performance test of the actuators are elaborated in detail.Self-healing materials are applied to the bionic earthworm crawling robot,and the application prospects of the self-healing materials in the robot are evaluated.Finally,the motion and control of the bionic earthworm crawling robot are studied.The motion sequence of the bionic earthworm crawling robot is defined,and six motion sequences are defined in one motion cycle.A kinematic model of the bionic earthworm crawling robot is constructed,and the functional relationship between input pressure and motion distance is characterized.The control system of the bionic earthworm crawling robot is described,and the actuator is controlled by the opening and closing of the solenoid valve controlled by the single-chip microcomputer.On this basis,the crawling speed and load capacity of the bionic earthworm crawling robot are tested..The crawling speed of the bionic earthworm crawling robot on a smooth acrylic board is 150mm/min,and it can crawl under different slopes(maximum 45o)or 1.5 times the weight of the load itself.